diff --git a/src/Heating/LocalHeater.cpp b/src/Heating/LocalHeater.cpp
index d22a43735..d87f29b83 100644
--- a/src/Heating/LocalHeater.cpp
+++ b/src/Heating/LocalHeater.cpp
@@ -287,64 +287,64 @@ void LocalHeater::Spin() noexcept
{
// Get the target temperature and the error
const float targetTemperature = min<float>(GetTargetTemperature() + extrusionTemperatureBoost, GetHighestTemperatureLimit());
- const float error = targetTemperature - temperature;
- if (extrusionTemperatureBoost != 0.0 || lastExtrusionTemperatureBoost != extrusionTemperatureBoost)
+ if (IsPidMode(mode) && extrusionTemperatureBoost != lastExtrusionTemperatureBoost)
{
// Calculate new heater mode to prevent heater fault due to exceededAllowedExcursion
- String<1> dummy;
- (void)SwitchOn(dummy.GetRef());
+ mode = (temperature + TemperatureCloseEnough < targetTemperature) ? HeaterMode::heating
+ : (temperature > targetTemperature + TemperatureCloseEnough) ? HeaterMode::cooling
+ : HeaterMode::stable;
+ lastExtrusionTemperatureBoost = extrusionTemperatureBoost;
}
- lastExtrusionTemperatureBoost = extrusionTemperatureBoost;
+
+ const float error = targetTemperature - temperature;
// Do the heating checks
- switch(mode)
+ switch (mode)
{
case HeaterMode::heating:
+ if (error <= TemperatureCloseEnough)
{
- if (error <= TemperatureCloseEnough)
+ mode = HeaterMode::stable;
+ heatingFaultCount = 0;
+ }
+ else
+ {
+ const uint32_t now = millis();
+ if ((float)(now - timeSetHeating) < GetModel().GetDeadTime() * SecondsToMillis * 2) // wait for twice the dead time before we start looking at the temperature rise
{
- mode = HeaterMode::stable;
- heatingFaultCount = 0;
+ // Record the temperature for when we are past the dead time
+ lastTemperatureValue = temperature;
+ lastTemperatureMillis = now;
}
- else
+ else if (gotDerivative) // this is a check in case we just had a temperature spike
{
- const uint32_t now = millis();
- if ((float)(now - timeSetHeating) < GetModel().GetDeadTime() * SecondsToMillis * 2) // wait for twice the dead time before we start looking at the temperature rise
- {
- // Record the temperature for when we are past the dead time
- lastTemperatureValue = temperature;
- lastTemperatureMillis = now;
- }
- else if (gotDerivative) // this is a check in case we just had a temperature spike
+ const float expectedRate = GetExpectedHeatingRate();
+ const float minSamplingInterval = 3.0/expectedRate; // only check the temperature when we expect at least 3C rise since last time
+ const float actualInterval = (float)(now - lastTemperatureMillis) * MillisToSeconds;
+ if (actualInterval >= minSamplingInterval)
{
- const float expectedRate = GetExpectedHeatingRate();
- const float minSamplingInterval = 3.0/expectedRate; // only check the temperature when we expect at least 3C rise since last time
- const float actualInterval = (float)(now - lastTemperatureMillis) * MillisToSeconds;
- if (actualInterval >= minSamplingInterval)
+ // Check that we are heating fast enough, and if so, take another sample
+ const float expectedTemperatureRise = expectedRate * actualInterval;
+ const float actualTemperatureRise = temperature - lastTemperatureValue;
+ // Bed heaters sometimes have much slower long term heating rates than their short term heating rates, so allow them a lower measured heating rate
+ if (actualTemperatureRise < expectedTemperatureRise * ((IsBedOrChamber()) ? MinBedTemperatureRiseFactor : MinToolTemperatureRiseFactor))
{
- // Check that we are heating fast enough, and if so, take another sample
- const float expectedTemperatureRise = expectedRate * actualInterval;
- const float actualTemperatureRise = temperature - lastTemperatureValue;
- // Bed heaters sometimes have much slower long term heating rates than their short term heating rates, so allow them a lower measured heating rate
- if (actualTemperatureRise < expectedTemperatureRise * ((IsBedOrChamber()) ? MinBedTemperatureRiseFactor : MinToolTemperatureRiseFactor))
+ ++heatingFaultCount;
+ if (heatingFaultCount * HeatSampleIntervalMillis > GetMaxHeatingFaultTime() * SecondsToMillis)
{
- ++heatingFaultCount;
- if (heatingFaultCount * HeatSampleIntervalMillis > GetMaxHeatingFaultTime() * SecondsToMillis)
- {
- RaiseHeaterFault(HeaterFaultType::temperatureRisingTooSlowly,
- "expected %.2f" DEGREE_SYMBOL "C/sec measured %.2f" DEGREE_SYMBOL "C/sec",
- (double)expectedRate, (double)(actualTemperatureRise/actualInterval));
- }
+ RaiseHeaterFault(HeaterFaultType::temperatureRisingTooSlowly,
+ "expected %.2f" DEGREE_SYMBOL "C/sec measured %.2f" DEGREE_SYMBOL "C/sec",
+ (double)expectedRate, (double)(actualTemperatureRise/actualInterval));
}
- else
+ }
+ else
+ {
+ lastTemperatureValue = temperature;
+ lastTemperatureMillis = now;
+ if (heatingFaultCount != 0)
{
- lastTemperatureValue = temperature;
- lastTemperatureMillis = now;
- if (heatingFaultCount != 0)
- {
- --heatingFaultCount;
- }
+ --heatingFaultCount;
}
}
}
diff --git a/src/Movement/DDARing.cpp b/src/Movement/DDARing.cpp
index 4760195e3..f28e9a3f7 100644
--- a/src/Movement/DDARing.cpp
+++ b/src/Movement/DDARing.cpp
@@ -84,6 +84,7 @@ void DDARing::Init1(unsigned int numDdas) noexcept
getPointer = addPointer;
lastFeedForwardTool = nullptr;
+ lastAverageExtrusionSpeed = 0.0;
}
// This must be called from Move::Init, not from the Move constructor, because it indirectly refers to the GCodes module which must therefore be initialised first
@@ -731,6 +732,8 @@ uint32_t DDARing::ManageIOBitsAndFeedForward() noexcept
SetBasePriority(NvicPriorityStep);
DDA *cdda = getPointer;
const uint32_t now = StepTimer::GetMovementTimerTicks();
+ const Tool *_ecv_null feedForwardTool;
+ float feedForwardAverageExtrusionSpeed = 0.0;
while (cdda->IsCommitted())
{
@@ -752,22 +755,25 @@ uint32_t DDARing::ManageIOBitsAndFeedForward() noexcept
}
}
- const Tool *_ecv_null t;
- if (!doneFeedForward && (t = cdda->GetTool()) != nullptr && timeToMoveStart < (int32_t)t->GetFeedForwardAdvanceClocks() && timeToMoveEnd > (int32_t)t->GetFeedForwardAdvanceClocks())
+ if (!doneFeedForward)
{
- // This move is current from the perspective of feedforward
- if (!cdda->HaveDoneFeedForward())
+ feedForwardTool = cdda->GetTool();
+ if (feedForwardTool != nullptr && timeToMoveStart < (int32_t)feedForwardTool->GetFeedForwardAdvanceClocks() && timeToMoveEnd > (int32_t)feedForwardTool->GetFeedForwardAdvanceClocks())
{
- // Don't set feedforward here because we have set a very high base priority and we may need to send CAN messages. Just record that we need to set it.
- setFeedForward = true;
- lastFeedForwardTool = t;
- cdda->SetDoneFeedForward();
- }
- nextWakeupDelay = min<uint32_t>(nextWakeupDelay, (uint32_t)timeToMoveEnd > t->GetFeedForwardAdvanceClocks());
- doneFeedForward = true;
- if (doneIoBits)
- {
- break;
+ // This move is current from the perspective of feedforward
+ if (!cdda->HaveDoneFeedForward())
+ {
+ // Don't set feedforward here because we have set a very high base priority and we may need to send CAN messages. Just record that we need to set it.
+ cdda->SetDoneFeedForward();
+ feedForwardAverageExtrusionSpeed = cdda->GetAverageExtrusionSpeed();
+ setFeedForward = true;
+ }
+ nextWakeupDelay = min<uint32_t>(nextWakeupDelay, (uint32_t)timeToMoveEnd > feedForwardTool->GetFeedForwardAdvanceClocks());
+ doneFeedForward = true;
+ if (doneIoBits)
+ {
+ break;
+ }
}
}
cdda = cdda->GetNext();
@@ -782,12 +788,18 @@ uint32_t DDARing::ManageIOBitsAndFeedForward() noexcept
if (setFeedForward)
{
- lastFeedForwardTool->ApplyExtrusionFeedForward(cdda->GetAverageExtrusionSpeed());
+ if (feedForwardTool != lastFeedForwardTool || fabsf(feedForwardAverageExtrusionSpeed - lastAverageExtrusionSpeed) > lastAverageExtrusionSpeed * 0.05)
+ {
+ feedForwardTool->ApplyExtrusionFeedForward(feedForwardAverageExtrusionSpeed);
+ lastFeedForwardTool = feedForwardTool;
+ lastAverageExtrusionSpeed = feedForwardAverageExtrusionSpeed;
+ }
}
- else if (!doneFeedForward && lastFeedForwardTool != nullptr)
+ else if (!doneFeedForward && lastFeedForwardTool != nullptr && lastAverageExtrusionSpeed != 0.0)
{
lastFeedForwardTool->StopExtrusionFeedForward(); // no move with a tool active so cancel the last feedforward we commanded
lastFeedForwardTool = nullptr;
+ lastAverageExtrusionSpeed = 0.0;
}
return (nextWakeupDelay + StepClockRate/1000 - 1)/(StepClockRate/1000); // convert step clocks to milliseconds, rounding up
diff --git a/src/Movement/DDARing.h b/src/Movement/DDARing.h
index 0db2cf07f..8b946f73a 100644
--- a/src/Movement/DDARing.h
+++ b/src/Movement/DDARing.h
@@ -98,6 +98,7 @@ class DDARing INHERIT_OBJECT_MODEL
uint32_t gracePeriod; // The minimum idle time in milliseconds, before we should start a move. Better to have a few moves in the queue so that we can do lookahead
const Tool *_ecv_null lastFeedForwardTool; // the tool we last applied heater feedforward to
+ float lastAverageExtrusionSpeed; // the extrusion speed we last set heater feedforward for
uint32_t scheduledMoves; // Number of moves scheduled in this ring
uint32_t completedMoves; // Number of moves completed in this ring
diff --git a/src/Version.h b/src/Version.h
index 905ca2335..528222911 100644
--- a/src/Version.h
+++ b/src/Version.h
@@ -10,7 +10,7 @@
#ifndef VERSION
// Note: the complete VERSION string must be in standard version number format and must not contain spaces! This is so that DWC can parse it.
-# define MAIN_VERSION "3.6.0-beta.1+3"
+# define MAIN_VERSION "3.6.0-beta.2"
# ifdef USE_CAN0
# define VERSION_SUFFIX "(CAN0)"
# else